MTG: Mapless Trajectory Generator with Traversability Coverage for Outdoor Navigation
Jing Liang,Peng Gao,Xuesu Xiao,Adarsh Jagan Sathyamoorthy,Mohamed Elnoor,Ming C. Lin,Dinesh Manocha,Jing Liang,Peng Gao,Xuesu Xiao,Adarsh Jagan Sathyamoorthy,Mohamed Elnoor,Ming C. Lin,Dinesh Manocha
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for global planning using limited onboard robot perception in mapless environments while ensuring comprehensive coverage of all traversable directions. Our formulat...
